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By G Baiden

The removal of rock blockages in mining operations has long been a risky undertaking, especially in high overhead conditions. Moreover, the assessment of where to put charges and the placement of them has been difficult due to the lack of visibility and safe access to the area. Traditionally, wedging long poles with explosives on them to keep the operator at a relatively safe distance has been the tried and true method of attempting to remove the blockages. Unfortunately, this is not a perfect system as it usually takes several attempts to remove the blockage. Each successive attempt results in even more dangerous conditions for workers and/or damage to the mine due to the successively larger amounts of explosives used until the hang-up finally comes down.Over the years, different ideas have been proposed to improve this process and reduce the inherent safety risks. Some of the technologies that have been trialled include projectiles fired at the hang-up; large, cumbersome arms; and massive amounts of explosives, each of which come with their own inherent safety risks that result in dangerous situations for miners and the mine.After gaining a thorough understanding of the process, Penguin Automated Systems Inc has developed a robotic system that is capable of working in a rock blockage safely. The idea combines the latest in telerobotics technology with 3D scanning and underground geospatial positioning. The hang-up removal is performed by scanning the inside of the hang-up to rapidly develop a geospatially placed 3D model for the operator to use. The 3D model is detailed enough that the operator can attempt to pick the ‘keystone’. A blasting engineer or the operator can then determine the exact position where the explosive charge should be placed in the 3D model and thus at the actual hang-up. The operator, controlling the robotic arm, uses the 3D virtual reality model of the robot system and the actual drawpoint information model to display the location information, the arm can then reach into the hang-up to position the charge using the kinematic model of the robot system. The 3D model is used to provide views inside the hang-up so that the operator can move the arm safely and precisely. This process allows the operator to place the charge (using the 3D representation of the drawpoint) from a long distance away. As the process continues, the end of the arm drills the rock and precisely loads the explosives. The robot then returns the blasting cable to the command station, which is located in a truck at a safe distance from the blockage.This paper will review the development of the system and present the results to date.CITATION:Baiden, G, 2016. Robotic hang-up assessment and removal of rock blockages in mining operations using virtual reality for safety, in Proceedings Seventh International Conference and Exhibition on Mass Mining (MassMin 2016), pp 745–754 (The Australasian Institute of Mining and Metallurgy: Melbourne).

May 9, 2016

By Unal Artan

It is well known in the robotics community that the ability to determine the position of vehicles in real time is a key enabling technology required for automation, traffic management, and to ensure safety in the presence of multiple vehicles. Because of this, the introduction of global positioning systems (GPS) has had a remarkable impact on the surface mining industry, enabling real-time tracking of mobile assets, improved safety, and production optimization. Unfortunately, satellite-based GPS is not available underground. This paper reports on the preliminary results of a study to develop a robust method for globally consistent mapping of large-scale underground mine environments. We believe that this may additionally become the first step towards the development of a novel underground positioning technology. Presented are preliminary results from data collected at two underground mines using an Atlas Copco ST14 LHD machine.

Oct 1, 2009

By Mark C. Russell, Charles T. Russell, Brooke Colburn, Parker Bailey, Desiree Bernhard, Kaito Durkee, Tristen Cutshall, Rob P. H. Urselmann

Hypersonic tunnel boring (HTB) uses directed, high velocity projectile impacts to remove rock. HTB is highly independent of rock strength and targets hard, abrasive rock and variable rock environments. This paper discusses history, theory and presents test (2×2 m and .75×.5 m tunnels) field trial results and technical and economic evaluation. The HTB tests are compared against the historic ‘project REAM’ and the concept against tunnel boring machines and drill & blast in design studies for full-scale 12 m and 4.5×5.5 m tunnels. The positive results indicate that under these conditions HTB can replace Drill & Blast and Tunnel Boring Machines.

Jun 13, 2021

By K. Iturralde

The article discusses the possibility of automation in refurbishment processes of social dwelling built from 1950 to 1970. These massively produced buildings were mostly designed prior to the law enforcement regarding thermal insulation or accessibility. Nowadays, many of these buildings are being retrofitted. The article focuses on the works in the external envelope. The task of renewing the whole social building stock is big and it requires a systematic process that facilitates a rapid upgrading, without neglecting the specific situation of each case. How could an automatic refurbishment process of these buildings be defined? The process should start with the data collection of the building and the creation of a 3D model using software such as BIM. The project, drafted in 3D, should facilitate the manufacture of building elements by robotics. In turn, it should be noted that during the assembly at the site, the pieces must be fixed quickly and efficiently. Is it possible to implement an automated process for the refurbishment of apartments built in the second half of the twentieth century? To approach the answer, a virtual refurbishment project is performed. The article focuses on the rehabilitation of the building envelope. Furthermore, it gives special attention to the double skin facade. It is well known that a second skin in this type of building can be an element that integrates several functions. Finally, needless to say that refurbishment of residential buildings is a need in our society. By extending its life cycle, robotic refurbishment provides more favorable socioeconomic and environmental capabilities than the sole construction of new buildings.

Aug 1, 2013

By J. P. H. Steele, T. Vincent, C. Debrunner, M. Whitehorn

For a variety of reasons, the need for automation of underground mining equipment is growing dramatically, e.g., improved safety and health, availability of labor, deeper mines, and desire for more focused excavation. While there has been tremendous progress made in this direction, much needs to be done to reach the holy grail of an autonomous mining machine. This paper reviews a number of technological developments and presents research and development needs for future development. A report on our current project for the Western Mining Resource Center at CSM is included.

Jan 1, 2000

By M. A. Trevits, G. W. Luxbacher, L. D. Patts

"It is almost a given that post-disaster mine conditions will have compromised the mine ventilation system, resulting in a hazardous atmosphere in portions of the mine, and often complicated travel through debris fields and roof falls. Robotic technologies provide the opportunity to gather valuable information to assist decision making or lessen exposure to dangerous conditions. MSHA's Mine Emergency Operations Division (MEO) has utilized a fully permissible mine robot, the V2, for a number of years, constantly updating the unit as new technologies became available. The National Institute for Occupational Safety and Health, as part of the MINER Act Extramural Contract Program, examined the need for additional robotic units and ultimately funded three different types of prototype technologies: two robots, the Snake Robot and the Gemini-Scout, and a mine rescue robotic assist vehicle known as the ""Mule"". The Snake Robot is designed to be lowered through a borehole and to conduct surveillance (gas monitoring, video and audio) in the immediate vicinity, while the Gemini-Scout, designed to be deployed in the mine opening, serves as a more mobile and agile exploratory tool as compared to the MSHA V2 robot. The Mule was developed in response to needs expressed by mine rescue teams for a versatile remotely operated support vehicle and it will move from prototype to MEO utilization in the near future. This paper describes the development of the robot prototypes and discusses their limitations in the prototype stage, possible enhancements and potential applications, as well as the utilization of the Mule. INTRODUCTION The conditions in a coal mine may be dramatically altered after a mine fire or explosion. For example, the ventilation system may not be functioning correctly as control devices may be compromised or damaged beyond repair. The visibility in the mine opening may be limited due to accumulated smoke and dust. Roof support systems may be damaged or no longer functional. Equipment and materials may be strewn about the mine opening. Debris fields, blocked openings, roof falls, flooded areas, gas accumulations and active burning make it very difficult or impossible for those managing the post-event emergency to permit mine rescue teams to enter the mine to conduct search and rescue operations. With the evolution of robots and robotic assist technology there has been a proliferation of purpose-built units for the military, police and law enforcement agencies, urban search and rescue and those contending with hazardous environmental conditions. In each case, the technology used is designed to limit human exposure to the unsafe conditions or to provide access to areas under difficult conditions. For example, a specially-designed marine robot has been deployed into the damaged core of the Japan’s Fukushima Daiichi Nuclear Power Plant to assess the conditions of the containment vessels, where melted fuel is believed to have accumulated. Human access to the area is prohibited due to dangerously elevated levels of radioactivity [1]. Multiple robots were deployed in Amatrice, Italy, to assist in the response after the 6.2-magnitude earthquake devastated the town. The robots were used to explore two medieval churches that were severely damaged and deemed too dangerous for human entry [2]. Tactical robots are regularly used by police and law enforcement agencies when the conditions of the emergency place intervening officers directly in harm's way [3]."

Jan 1, 2018

By E. Pardo-Igúzquiza, R. A. Olea

The bootstrap is a computer-intensive resampling method for estimating the uncertainty of complex statistical models. We expand on an application of the bootstrap for inferring semivariogram parameters and their uncertainty. The model fitted to the median of the bootstrap distribution of the experimental semivariogram is proposed as an estimator of the semivariogram. The proposed application is not restricted to normal data and the estimator is resistant to outliers. Improvements are more significant for data-sets with less than 100 observations, which are those for which semivariogram model inference is the most difficult. The application is illustrated by using it to characterize a synthetic random field for which the true semivariogram type and parameters are known.

Jan 1, 2015

By M Laxman, A Kundu

After multiple tailings dam failures in recent times, the owner organisations have made increased efforts to step up the governance systems to industry best practise in the design, construction and operational management areas. The measures include but are not limited to, site investigation, rigorous peer review (both internal and external), certification through appropriately qualified personnel and improvement in operational management practises. While a lot of focus is on design and operational practices, the construction stage requires adaptation (both in terms of materials and approved design) and immediate decision making on site. Work undertaken in these areas is mostly irreversible and sometimes poses serious threat to the future TSF raise/ expansion planning and may lead to reduced life of the TSF and additional risk to the Owner.This technical paper will discuss some challenges and highlight the importance of appropriate processes to achieve a successful construction regime. The process will include a robust quality control/ quality assurance process, a team of designer-constructor-owner with suitable skills and technical understandings and robust documentation of the entire construction process from day 1 to the completion of construction.CITATION:Kundu, A and Laxman, M, 2018. Robust construction and quality assurance culture for tailings storage facilities – equally important as robust design and review practice, in Proceedings Mine Waste and Tailings Stewardship Conference 2018, pp 111–116 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 23, 2018

By F Grobler

Many projects fail because project performance in unfavourable economic conditions was not anticipated at the investment decision stage. This type of failure may have been avoided through the selection of a strategy that enables the project to perform well under a range of possible future economic conditions (a ærobustÆ strategy); rather than an æoptimalÆ strategy for expected future conditions that will never eventuate. This paper describes a method of rapidly generating mine plans for a number of project strategies, and then evaluating it against a representative range of equally likely economic conditions. The key performance indicators derived for each strategy are the mean value and the distribution of values (variance). A prudent investor will identify prospective strategies not only on the merit of highest mean values (as a proxy for economic reward), but also on the probability of not meeting specified investment hurdles (a proxy for risk). A robust strategy will achieve its financial objective even under adverse economic variations. This paper focuses on the effect of commodity price uncertainty; particularly around the choice of mining and processing capacity levels. Results from enumerating 2000 prices scenarios against 63 strategy combinations show how processing and mining capacity can be manipulated to manage the risk-reward trade-off.

Sep 26, 2011

By D Brown, Z Tabor

Projects must be flexible to account for the rapid development of new technologies and changing stakeholder expectations. Coupled with calls for bleeding-edge solutions, customers, shareholders, and regulators demand robust, safe products and systems-of-systems. Developing and integrating these solutions is becoming increasingly complex and maintaining the flexibility required to ‘pivot’ to effective solutions can be a serious challenge. The necessary flexibility is fundamental to the Agile ethos, and this family of methodologies therefore offers a potential solution to this challenge (Beedle et al, 2001). These have traditionally been delivered with systems engineering applied through a Waterfall methodology. Agile Systems Engineering combines both approaches and presents a means to achieve these goals without compromising flexibility, quality or safety. A robust methodology for the application of Agile Systems Engineering is required to enhance practical outcomes and reduce risk for real-world mining projects.

Sep 1, 2024

By G. K. Mann

Fragmentation analysis of blast or crushed rock material is a time-consuming and costly process. During the last two decades, the mining industry has been investigating image-based analysis systems as an alternative to generate fragmentation results. Many image-based techniques and commercial products have emerged during the last few years, and the mining industry has recently begun using these tools for real-time estimation of size distributions. Some existing systems require manual image editing to add or delete edges (or net) before executing the fragmentation analysis routine. This manual procedure may take hours of time for each image analyzed. Reliable and robust image segmentation should be able to handle a wide range of rock textures and sizes under a variety of lighting conditions. This paper describes a novel software application, which has the capability to autonomously capture images and analyze them to generate the particle size distribution. The system can also process a batch of images captured during a fixed duration of time and produce the overall particle size distribution. The new method has different layers of segmentation modules, which allows the system to operate under a wide range of rock textures and lighting conditions. A new grey-level slicing technique is developed which can perform under a range of illuminating conditions. The Canny-based edge detection technique is used to segment rocks appearing in dark regions.

Jan 1, 2006

"In addition to outstanding technical sessions and networking opportunities, the SME Annual Conference and Expo offers attendees a chance to see the latest and greatest technology that the industry has to offer. The 2017 SME Annual Conference and Expo was no exception as 575 companies filled 756 booths from Feb. 19-22 in Denver, CO. The following is a look at some of the vendors that were on hand.AIL MiningThe Edge, featured by AIL Mining at the 2017 SME exhibit, is a four-flange structural liner designed to be an alternative to structural plate’s traditional lapped seams and to help mine operators build more efficiently and safely. It is ideal for creating underground structures, such as mine shafts, ventilation raises and escape ways. The Edge is available on SuperCor structural steel plate — 10 times stiffer and five times stronger than traditional steel liner plate. It facilitates curved structures, both horizontal and vertical, and eliminates the need for ring beams. It is ideal for remote sites. For added safety, structures can be assembled from the inside, and the leak-resistant structures can be dismantled and removed easily. Brackets can be attached to mine shafts or vent raises to support Alimak rails or climbers. Similarly, brackets or hangers can be attached to drifts or tunnels to support mine air, water or electrical utility services.ArcadisMining companies spent nearly $12 billion on water infrastructure worldwide in 2014, reflecting the industry’s heightened concern about environmental issues and social, regulatory and political risks.So, with an increasing focus on water reuse and recycling, mining companies must have effective water management plans that include sustainable solutions. Also, many water quality issues fall under both state and federal regulatory jurisdictions. To solve these problems, Arcadis provides comprehensive ground- and surfacewater technical support in a complex hydrogeologic setting. It can characterize the nature and extent of mine-related constituents in ground water and surface water, as well as the complex interactions between the two waters, and prepare the operational permits needed by mine and tailings facilities. As an example, Arcadis constructed a hydrogeologic and geochemical conceptual site model that improved site understanding for a molybdenum mine in the western United States that spanned several watersheds. It also provided technical support for permitting and compliance issues, allowing the mine to return to active production."

Jan 5, 2017

Strategic planning in mining is an important value accretive process. One of the most important aspects during the planning phase is determining the correct mine and plant design. The traditional mine site design (mine, plant, stockpiles, dumps) develops a fixed system for one set of conditions or expected values. A robust design is a fixed system that is designed to deal with a large range of conditions without changing the system design. A flexible design changes the system dynamically in response to changes in uncertainties. It is hypothesised that a robust design generates less value than a flexible design as it fails to realise the value of actively managing the operation. One of the most critical aspects in creating strategic value from a project is embedded in the design of the system. A flexible design has components that allow the design of the system to change over time. An operational plan is proposed as a hybrid of a robust and flexible design. This paper seeks to compare these different design methodologies. An analysis of the same case study is undertaken to compare these approaches, showing an a traditional net present value (NPV) of $1678 M, robust design NPV of $1787 M and an operational plan NPV of $1867 M - an increase of $170 M.

Dec 6, 2010

A study of drilling data at various stages of development of an orebody show that the semi-variogram, used for calculating the accuracy of block estimates can be ill-defined if too few data are available. The consequencesin this case are to have blocks supposedly more accurately known than is possible at the early drilling stage; such a result being potentially dangerous. However, as the amount of data increases the recalculated, semi-variograms approach the underlying semi-variogram of the deposit and the calculations made using them become more reliable and robust.

Jan 1, 1977

By M. R. Carter

The Rochester Mining District is located some twenty-five miles NE of Lovelock, Nevada. The District was discovered and named in the 1860's by prospectors from Rochester, New York. For a number of years, they worked Rochester Canyon, sinking shafts and inclines and making open cuts. After reaching a depth of approximately eighty feet, the miners tapped an underground channel and were driven from these workings by a strong flow of water leaving pumps in the shaft and barely escaping with their lives. With the Rochester workings no longer accessible, the miners went to the southeast and established the Relief Mining District. About 1881, gold was found in the gravel at the mouth of American Canyon, to the east of Rochester. These placers were worked until 1895, first by the Americans who reportedly took out $1 000 000, and later by the Chinese who mined the gravel with great skill. It was estimated that the Chinese took out as much as $10 000 000.

Jan 1, 1987

The Coeur Rochester Mine is one of the largest and lowest cost primary silver mines in the United States. In January, the mine surpassed 3.1 kt (100 million oz) of historic silver production. Rochester is owned and operated by Coeur d’Alene Mines, the world’s largest primary silver producer. Rochester is the world’s seventh largest silver mine. It also produces gold — more than 31.1 t (1 million oz) in historic production. Cash operating costs have averaged 8 cents/g ($2.58/oz) of silver since operations began in 1986.

Jan 1, 2004

By A.A. Grubb, F.L. Wolf

The tests here described were rrlade to obtain information regarding costs, efficiency, etc. of baking cores in an oil-fired oven and two electric ovens, which were installed, early in 1920, in the core room of The Ohio Brass Co. and were used almost continuously during the rest of that year. Operating costs were rather high so a complete test was undertaken early in 1921. The ovens will be referred to as Nos. 1, 2, and 3. Nos. 1 and 2 are electric ovens of different makes while No. 3 is an oil-fired oven made by the firm that made No. 2. The three arc. equipped with similar ventilating devices. They have full-height doors at front and rear. The cores are placed on iron racks, which arc lifted by Cowan trucks and rolled into the ovens through the front doors. When baked, they are removed through the rear doors. Fig. 1 shows the general plan of the elecric ovens while Fig. 2 shows the plan of the oil-fired oven. Oven No. 1 is 91 in. (231 em.) wide, 83 in. (210 em.) high. and 79 in. (200 cm.) deep, inside measurements. The walls are constructed ill panels about 18 in. (46 cm.) wide and 43/16 in. (10.6 em.) thick, packed with blocks of insulating material and covered with sheet iron. Thc concrete floor oil which the owns set is 13 in. (33 cm.) thick. 4 recess about 5 in. (13 cm.) deep was cut in the floor to provide room for the heating units. Channels and plates supported on I beams serve as supports for the trucks and racks. The ventilating system consists of a Sirroco No. 11/2 fan, connected so as to draw air from the top of the oven or from the room, through damper C, and to deliver it either to the bottom of the oven or to the floor; the delivery is controlled by the vane A. The fan 2nd pipes are covered with 1/4-in. (6.3 mm.) asbestos-cement lagging. The heating units have a capacity of 91.4 kw. and arc located along

Jan 1, 1923

By F. L. Wolf, A. A. Grubb

The tests here described were rrlade to obtain information regarding costs, efficiency, etc. of baking cores in an oil-fired oven and two electric ovens, which were installed, early in 1920, in the core room of The Ohio Brass Co. and were used almost continuously during the rest of that year. Operating costs were rather high so a complete test was undertaken early in 1921. The ovens will be referred to as Nos. 1, 2, and 3. Nos. 1 and 2 are electric ovens of different makes while No. 3 is an oil-fired oven made by the firm that made No. 2. The three arc. equipped with similar ventilating devices. They have full-height doors at front and rear. The cores are placed on iron racks, which arc lifted by Cowan trucks and rolled into the ovens through the front doors. When baked, they are removed through the rear doors. Fig. 1 shows the general plan of the elecric ovens while Fig. 2 shows the plan of the oil-fired oven. Oven No. 1 is 91 in. (231 em.) wide, 83 in. (210 em.) high. and 79 in. (200 cm.) deep, inside measurements. The walls are constructed ill panels about 18 in. (46 cm.) wide and 43/16 in. (10.6 em.) thick, packed with blocks of insulating material and covered with sheet iron. Thc concrete floor oil which the owns set is 13 in. (33 cm.) thick. 4 recess about 5 in. (13 cm.) deep was cut in the floor to provide room for the heating units. Channels and plates supported on I beams serve as supports for the trucks and racks. The ventilating system consists of a Sirroco No. 11/2 fan, connected so as to draw air from the top of the oven or from the room, through damper C, and to deliver it either to the bottom of the oven or to the floor; the delivery is controlled by the vane A. The fan 2nd pipes are covered with 1/4-in. (6.3 mm.) asbestos-cement lagging. The heating units have a capacity of 91.4 kw. and arc located along

Jan 1, 1923

By B. Woyski

Many writers, in discussing defects caused by oxidation and gassing of bronzes and red brasses advocate substantially the same cure for both. But from its nature, oxidation cannot take place if there is an excess of fuel in the furnace, while the gases absorbed by some alloys are products of incomplete combustion of the fuel. Hence the metal can be either oxidized or gassed, but it is doubtful whether these actions can take place simultaneously. Oxidation can be easily overcome by the use of deosidizers or it may be avoided by protecting the molten metal with suitable fluxes. Absorption of gascs is more difficult to overcome: the regulation of the air and fuel, so as to produce complete combustion, and the protection of the bath by mineral fluxes arc the most important factors. Gas expulsion, resulting in gas holes, porosity, unsoundness, and swollen or cauliflower-headed risers, is said to have several causes. One writer1 lists the most common causes in the order of their importance, as follows: Superheated metal, dirty or slaggy furnace conditions, using metals low in quality or those previously subjected to bad melting practice, poor grade of fuel, use of newly lined or damp ladles, indiscriminate mixing of scrap or illogical combinations of metal. Superheating the metal usually occurs when the heat is ready to be poured but for some reason must be held in the furnace. In this case, a careful furnace tender tries to avoid overheating the metal by keeping a mild fire; that is, a reducing fire which, unfortunately, results in gassing the metal. A dirty, slaggy furnace may result in gassing the metal by retarding the heating and prolonging the time necessary to bring the metal to the proper temperature, thereby increasing the chances of gassing in uncertain furnace atmosphere. It is doubtful whether rnetals of low quality have anything to do with gassing molten metal, except, possibly in the case of metals containing

Jan 1, 1923

By B. Woyski

Many writers, in discussing defects caused by oxidation and gassing of bronzes and red brasses advocate substantially the same cure for both. But from its nature, oxidation cannot take place if there is an excess of fuel in the furnace, while the gases absorbed by some alloys are products of incomplete combustion of the fuel. Hence the metal can be either oxidized or gassed, but it is doubtful whether these actions can take place simultaneously. Oxidation can be easily overcome by the use of deosidizers or it may be avoided by protecting the molten metal with suitable fluxes. Absorption of gascs is more difficult to overcome: the regulation of the air and fuel, so as to produce complete combustion, and the protection of the bath by mineral fluxes arc the most important factors. Gas expulsion, resulting in gas holes, porosity, unsoundness, and swollen or cauliflower-headed risers, is said to have several causes. One writer1 lists the most common causes in the order of their importance, as follows: Superheated metal, dirty or slaggy furnace conditions, using metals low in quality or those previously subjected to bad melting practice, poor grade of fuel, use of newly lined or damp ladles, indiscriminate mixing of scrap or illogical combinations of metal. Superheating the metal usually occurs when the heat is ready to be poured but for some reason must be held in the furnace. In this case, a careful furnace tender tries to avoid overheating the metal by keeping a mild fire; that is, a reducing fire which, unfortunately, results in gassing the metal. A dirty, slaggy furnace may result in gassing the metal by retarding the heating and prolonging the time necessary to bring the metal to the proper temperature, thereby increasing the chances of gassing in uncertain furnace atmosphere. It is doubtful whether rnetals of low quality have anything to do with gassing molten metal, except, possibly in the case of metals containing

Jan 1, 1923